Gesture recognition-based mechanical arm pose control system

Abstract

The invention discloses a gesture recognition-based mechanical arm pose control system. The system comprises a smart wristband module, a remote client module, a Bluetooth communication module, a dataprocessing module, a simulation module and a mechanical arm execution module which are connected successively, wherein the smart wristband is wirelessly connected with a PC through Bluetooth and is used for transmitting an electromyographic signal acquired by the smart wristband module to the remote client module; the remote client module is used for forwarding the signal to the data processing module after receiving the signal; the data processing module is used for carrying out filtration and noise reduction on the signal, classifying gestures, and solving joint angles by utilizing positiveand athwart kinematics after noise reduction; two smart wristbands are used for obtaining joint angles of arms of an operator; the remote client is further used for transferring signals of the joint angles and an operation instruction signal to the smart wristband module; a gesture action signal is transmitted to a simulation mechanical arm in the simulation module; the simulation mechanical arm transmits the signal to a working mechanical arm; and the working mechanical arm executes a command according to the signal.

Description

technical field [0001] The invention relates to a position and posture control system of a manipulator based on gesture recognition, which enables the actual manipulator to perform the same action as the human arm and gesture through changes in the human arm and gesture. Background technique [0002] With the introduction of "Made in China 2025", my country's manufacturing industry has officially embarked on the road of transformation and upgrading with intelligent manufacturing as an important development direction. The replacement of manual production by robots has become an important development trend in the future manufacturing industry. Industrial robots, as the "pearl at the top of the manufacturing industry", will vigorously promote the early realization of industrial automation, digitalization, and intelligence, and lay the foundation for intelligent manufacturing. [0003] Industrial robot teaching means that programmers use various teaching methods to "inform" the ...

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Problems solved by technology

Xiao Lifeng and Peng Jinbao proposed a control method and system for a manipulator based on gesture recognition (Xiao Lifeng, Peng Jinbao. A control method and system for a manipulator based on gesture recognition [P]. Beijing: CN106272409A, 2017-01-04), a manipulator based on gesture recognition The control method and system proposes a method that collects the operator’s hand motion data and then maps it to the movement of the robotic arm, transforming and outputting the control commands of the robotic arm, but the recognized gestures are relatively few; Zhu Maojuan, Wang Linbing, Zeng Qi, etc. proposed A robot and its teaching communication system (Zhu Maojuan, Wang Linbing, Zeng Qi, etc. Robot and its teaching communication system: China, 205620710[P]. 2016-01-04), realized the communication between the teaching collector and the controller The data communication between them, but the communication method is wired, which has space limitations and lacks confidentiality

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